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    Teledyne FLIR Lepton 3.5 Integration

    Ask your questions right here!
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    • george kollamkulamG
      george kollamkulam @Alex Kushleyev
      last edited by

      @Alex-Kushleyev thanks, this seems to be working well. Can you also share what voxl-lepton-tracker is used for?

      George

      Alex KushleyevA 1 Reply Last reply Reply Quote 0
      • Alex KushleyevA
        Alex Kushleyev ModalAI Team @george kollamkulam
        last edited by

        @george-kollamkulam , the lepton tracker is an implementation of optic flow tracker for the lepton data, you can see the details here : https://gitlab.com/voxl-public/voxl-sdk/services/voxl-lepton-tracker/-/blob/master/src/feature_tracker.cpp

        george kollamkulamG 1 Reply Last reply Reply Quote 0
        • george kollamkulamG
          george kollamkulam @Alex Kushleyev
          last edited by

          @Alex-Kushleyev I tried using the Lepton 3.5 sensor again, but this time I was unable to see the feed on the voxl portal, although voxl-lepton-server and voxl-camera-services were running. Additionally, I couldn't hear the clicking sound from the lepton sensor that was previously present. What could be the issue here? Is there anything I'm missing?

          I also noticed that the rear tracking camera wasn't functional (I'm not sure if this is related to the functioning of the lepton camera). It was seen on the voxl system check page on the voxl portal.

          Lepton.png

          Alex KushleyevA 1 Reply Last reply Reply Quote 0
          • Alex KushleyevA
            Alex Kushleyev ModalAI Team @george kollamkulam
            last edited by

            @george-kollamkulam , are you saying that just the Lepton and the tracking cameras are not working now, but all the other cameras are working fine?

            voxl-camera-server and voxl-lepton-server are completely independent and should not be interfering. However, Please try to unplug the lepton sensor from M0173 board and see if the tracking camera starts working again.

            it seems like maybe there is some power issue, since lepton is not clicking, since it should be doing that as soon as it gets power.

            Alex

            george kollamkulamG 1 Reply Last reply Reply Quote 0
            • george kollamkulamG
              george kollamkulam @Alex Kushleyev
              last edited by

              @Alex-Kushleyev I did a power cycle on the lepton sensor and it seems to be working now (click sound and feed available). All cameras except the rear tracking camera seems to be working fine (screenshot attached below). It doesn't show up on the voxl portal. How can we resolve this?

              Alex KushleyevA 1 Reply Last reply Reply Quote 0
              • Alex KushleyevA
                Alex Kushleyev ModalAI Team @george kollamkulam
                last edited by

                @george-kollamkulam , can you please provide output of “voxl-camera-server -l”? This will show us which cameras are detected (excluding lepton). Note that running this command will stop the camera server if it is running in the background.

                george kollamkulamG 1 Reply Last reply Reply Quote 0
                • george kollamkulamG
                  george kollamkulam @Alex Kushleyev
                  last edited by

                  @Alex-Kushleyev
                  existing instance of voxl-camera-server found, attempting to stop it
                  Number of cameras detected: 4

                  On the voxl portal system check, it returned false for tracking_rear (VOXL-Camera-Server) and error for imageSensor2 (VOXL Image Sensors).
                  ![Screenshot from 2025-07-09 10-43-06.png](Request Entity Too Large)

                  Alex KushleyevA 1 Reply Last reply Reply Quote 0
                  • Alex KushleyevA
                    Alex Kushleyev ModalAI Team @george kollamkulam
                    last edited by

                    @george-kollamkulam ,

                    You are using a version of SDK which had a bug that was suppressing most of the prints, so voxl-camera-server -l is not reporting any information.

                    To fix this, please use the latest version of libmodal-journal package (you can get it from here : http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64//libmodal-journal_0.2.6-202505081055_arm64.deb

                    How many cameras do you actually have on your Starling 2? is it 4? Two tracking, one Hires camera and on TOF?

                    Alex

                    george kollamkulamG 1 Reply Last reply Reply Quote 0
                    • george kollamkulamG
                      george kollamkulam @Alex Kushleyev
                      last edited by

                      @Alex-Kushleyev apart from the lepton sensor, I have 5 (1 hires, 1 tof and 3 tracking).

                      Can you please point me to the resource that explains how to update the libmodal-journal package? Would I need to reinstall ROS2 Foxy or anything else?

                      Thanks,
                      George

                      Alex KushleyevA 1 Reply Last reply Reply Quote 0
                      • Alex KushleyevA
                        Alex Kushleyev ModalAI Team @george kollamkulam
                        last edited by

                        @george-kollamkulam , in order to install the updated libmodal-journal package, you just download the file that i linked to VOXL2, lets say you put it in /home/root/.

                        Then, using adb you go to /home/root and execute:

                        dpkg -i libmodal-journal_0.2.6-202505081055_arm64.deb
                        

                        Then you just run voxl-camera-server -l and you should see a lot more information being printed.

                        Alex

                        george kollamkulamG 1 Reply Last reply Reply Quote 0
                        • george kollamkulamG
                          george kollamkulam @Alex Kushleyev
                          last edited by

                          @Alex-Kushleyev here's the system response.

                          voxl2:/$ cd /home/root
                          voxl2:~$ dpkg -i libmodal-journal_0.2.6-202505081055_arm64.deb
                          (Reading database ... 137565 files and directories currently installed.)
                          Preparing to unpack libmodal-journal_0.2.6-202505081055_arm64.deb ...
                          Unpacking libmodal-journal (0.2.6-202505081055) over (0.2.5) ...
                          Setting up libmodal-journal (0.2.6-202505081055) ...
                          Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
                          voxl2:~$ dpkg -l | grep libmodal-journal
                          ii libmodal-journal 0.2.6-202505081055 arm64 Journaling library
                          voxl2:~$ voxl-camera-server -l
                          existing instance of voxl-camera-server found, attempting to stop it
                          DEBUG: Attempting to open the hal module
                          DEBUG: SUCCESS: Camera module opened on attempt 0
                          DEBUG: ----------- Number of cameras: 4

                          DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
                          DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0034, Sensor Id: 0x0577
                          DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
                          DEBUG: Cam idx: 3, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356
                          DEBUG: Note: This list comes from the HAL module and may not be indicative
                          DEBUG: of configurations that have full pipelines

                          DEBUG: Number of cameras: 4

                          ====================================
                          Stats for camera: 0

                          ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                          These are likely supported by the sensor
                          1280 x 800
                          1280 x 800

                          ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                          These are NOT necessarily supported by the sensor
                          1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 800 HAL_PIXEL_FORMAT_BLOB
                          1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 768 HAL_PIXEL_FORMAT_BLOB
                          1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 720 HAL_PIXEL_FORMAT_BLOB
                          1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1024 x 738 HAL_PIXEL_FORMAT_BLOB
                          1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1024 x 768 HAL_PIXEL_FORMAT_BLOB
                          864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          864 x 480 HAL_PIXEL_FORMAT_BLOB
                          800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
                          800 x 600 HAL_PIXEL_FORMAT_BLOB
                          800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          800 x 480 HAL_PIXEL_FORMAT_BLOB
                          720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          720 x 480 HAL_PIXEL_FORMAT_BLOB
                          640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 512 HAL_PIXEL_FORMAT_BLOB
                          640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 480 HAL_PIXEL_FORMAT_BLOB
                          640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 400 HAL_PIXEL_FORMAT_BLOB
                          640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 360 HAL_PIXEL_FORMAT_BLOB
                          352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
                          352 x 288 HAL_PIXEL_FORMAT_BLOB
                          320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
                          320 x 240 HAL_PIXEL_FORMAT_BLOB
                          240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                          240 x 320 HAL_PIXEL_FORMAT_BLOB
                          176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                          176 x 144 HAL_PIXEL_FORMAT_BLOB
                          1280 x 800 HAL_PIXEL_FORMAT_RAW10
                          1280 x 800 HAL_PIXEL_FORMAT_RAW12
                          1280 x 800 HAL_PIXEL_FORMAT_RAW16
                          1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

                          ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                          min = 54
                          max = 1596

                          ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                          1596

                          ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                          min = 0ns
                          max = 1318629735ns

                          ====================================
                          Stats for camera: 1

                          ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                          These are likely supported by the sensor
                          4056 x 3040
                          3840 x 2160
                          1920 x 1080
                          1920 x 1080
                          1920 x 1080
                          1280 x 720
                          1280 x 720

                          ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                          These are NOT necessarily supported by the sensor
                          4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
                          4056 x 3040 HAL_PIXEL_FORMAT_BLOB
                          4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
                          4000 x 3000 HAL_PIXEL_FORMAT_BLOB
                          3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
                          3840 x 2160 HAL_PIXEL_FORMAT_BLOB
                          3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
                          3264 x 2448 HAL_PIXEL_FORMAT_BLOB
                          3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
                          3200 x 2400 HAL_PIXEL_FORMAT_BLOB
                          2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
                          2976 x 2976 HAL_PIXEL_FORMAT_BLOB
                          2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
                          2688 x 1512 HAL_PIXEL_FORMAT_BLOB
                          2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
                          2592 x 1944 HAL_PIXEL_FORMAT_BLOB
                          2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
                          2048 x 1536 HAL_PIXEL_FORMAT_BLOB
                          1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1920 x 1440 HAL_PIXEL_FORMAT_BLOB
                          1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1928 x 1208 HAL_PIXEL_FORMAT_BLOB
                          1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1920 x 1080 HAL_PIXEL_FORMAT_BLOB
                          1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1600 x 1200 HAL_PIXEL_FORMAT_BLOB
                          1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1440 x 1080 HAL_PIXEL_FORMAT_BLOB
                          1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 960 HAL_PIXEL_FORMAT_BLOB
                          1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 800 HAL_PIXEL_FORMAT_BLOB
                          1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 768 HAL_PIXEL_FORMAT_BLOB
                          1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 720 HAL_PIXEL_FORMAT_BLOB
                          1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1080 x 1080 HAL_PIXEL_FORMAT_BLOB
                          1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1024 x 738 HAL_PIXEL_FORMAT_BLOB
                          1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1024 x 768 HAL_PIXEL_FORMAT_BLOB
                          864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          864 x 480 HAL_PIXEL_FORMAT_BLOB
                          800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
                          800 x 600 HAL_PIXEL_FORMAT_BLOB
                          800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          800 x 480 HAL_PIXEL_FORMAT_BLOB
                          720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
                          720 x 1280 HAL_PIXEL_FORMAT_BLOB
                          720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          720 x 480 HAL_PIXEL_FORMAT_BLOB
                          640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 512 HAL_PIXEL_FORMAT_BLOB
                          640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 480 HAL_PIXEL_FORMAT_BLOB
                          640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 400 HAL_PIXEL_FORMAT_BLOB
                          640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 360 HAL_PIXEL_FORMAT_BLOB
                          352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
                          352 x 288 HAL_PIXEL_FORMAT_BLOB
                          320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
                          320 x 240 HAL_PIXEL_FORMAT_BLOB
                          240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                          240 x 320 HAL_PIXEL_FORMAT_BLOB
                          176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                          176 x 144 HAL_PIXEL_FORMAT_BLOB
                          4056 x 3040 HAL_PIXEL_FORMAT_RAW10
                          4056 x 3040 HAL_PIXEL_FORMAT_RAW12
                          4056 x 3040 HAL_PIXEL_FORMAT_RAW16
                          4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
                          3840 x 2160 HAL_PIXEL_FORMAT_RAW10
                          3840 x 2160 HAL_PIXEL_FORMAT_RAW12
                          3840 x 2160 HAL_PIXEL_FORMAT_RAW16
                          3840 x 2160 HAL_PIXEL_FORMAT_RAW_OPAQUE
                          1920 x 1080 HAL_PIXEL_FORMAT_RAW10
                          1920 x 1080 HAL_PIXEL_FORMAT_RAW12
                          1920 x 1080 HAL_PIXEL_FORMAT_RAW16
                          1920 x 1080 HAL_PIXEL_FORMAT_RAW_OPAQUE

                          ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                          min = 100
                          max = 35200

                          ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                          2200

                          ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                          min = 0ns
                          max = 243753000ns

                          ====================================
                          Stats for camera: 2

                          ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                          These are likely supported by the sensor
                          240 x 1629

                          ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                          These are NOT necessarily supported by the sensor
                          240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                          240 x 320 HAL_PIXEL_FORMAT_BLOB
                          176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                          176 x 144 HAL_PIXEL_FORMAT_BLOB
                          240 x 1629 HAL_PIXEL_FORMAT_RAW10
                          240 x 1629 HAL_PIXEL_FORMAT_RAW12
                          240 x 1629 HAL_PIXEL_FORMAT_RAW16
                          240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE

                          ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                          min = 54
                          max = 0

                          ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                          0

                          ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                          min = 0ns
                          max = 0ns

                          ====================================
                          Stats for camera: 3

                          ANDROID_SCALER_AVAILABLE_RAW_SIZES:
                          These are likely supported by the sensor
                          1280 x 800
                          1280 x 800

                          ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
                          These are NOT necessarily supported by the sensor
                          1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 800 HAL_PIXEL_FORMAT_BLOB
                          1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 768 HAL_PIXEL_FORMAT_BLOB
                          1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1280 x 720 HAL_PIXEL_FORMAT_BLOB
                          1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1024 x 738 HAL_PIXEL_FORMAT_BLOB
                          1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
                          1024 x 768 HAL_PIXEL_FORMAT_BLOB
                          864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          864 x 480 HAL_PIXEL_FORMAT_BLOB
                          800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
                          800 x 600 HAL_PIXEL_FORMAT_BLOB
                          800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          800 x 480 HAL_PIXEL_FORMAT_BLOB
                          720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          720 x 480 HAL_PIXEL_FORMAT_BLOB
                          640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 512 HAL_PIXEL_FORMAT_BLOB
                          640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 480 HAL_PIXEL_FORMAT_BLOB
                          640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 400 HAL_PIXEL_FORMAT_BLOB
                          640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
                          640 x 360 HAL_PIXEL_FORMAT_BLOB
                          352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
                          352 x 288 HAL_PIXEL_FORMAT_BLOB
                          320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
                          320 x 240 HAL_PIXEL_FORMAT_BLOB
                          240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
                          240 x 320 HAL_PIXEL_FORMAT_BLOB
                          176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
                          176 x 144 HAL_PIXEL_FORMAT_BLOB
                          1280 x 800 HAL_PIXEL_FORMAT_RAW10
                          1280 x 800 HAL_PIXEL_FORMAT_RAW12
                          1280 x 800 HAL_PIXEL_FORMAT_RAW16
                          1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

                          ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
                          min = 54
                          max = 1596

                          ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
                          1596

                          ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
                          min = 0ns
                          max = 1318629735ns

                          ====================================
                          Number of cameras detected: 4

                          ImageSensor2Error.png

                          george kollamkulamG 1 Reply Last reply Reply Quote 0
                          • george kollamkulamG
                            george kollamkulam @george kollamkulam
                            last edited by

                            @Alex-Kushleyev would you be able to help troubleshoot this error with the rear tracking camera?

                            1 Reply Last reply Reply Quote 0
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